Title of invention: Crane
Technical field
[0001]
　The present invention relates to a crane.
Background technology
[0002]
　Conventionally, in mobile cranes and the like, cranes in which each actuator is remotely controlled have been proposed. In such a crane, there are known remote-controlled terminals and cranes that can easily and easily operate the crane by matching the operating direction of the operating tool of the remote-controlled terminal with the operating direction of the crane. Since the crane is operated by an operation command signal based on the load from the remote control device, it can be operated intuitively without being aware of the operating speed, operating amount, operating timing, etc. of each actuator. For example, as in Patent Document 1.
[0003]
　The remote control device described in Patent Document 1 transmits a speed signal regarding the operation speed and a direction signal regarding the operation direction to the crane based on the operation command signal of the operation unit. For this reason, the crane may shake the load due to discontinuous acceleration at the start or stop of movement in which the speed signal from the remote control device is input in the form of a step function. Therefore, there is known a technique for suppressing the shaking of luggage by using a filter that suppresses a signal in a specific frequency range as a speed signal. However, cranes are less responsive by applying a filter to the speed signal. For this reason, the crane may not be able to move the luggage according to the intention of the operator due to a deviation in the movement of the luggage with respect to the operation feeling of the operator.
Prior art literature
Patent documents
[0004]
Patent Document 1: Japanese Unexamined Patent Publication No. 2010-228905
Outline of the invention
Problems to be solved by the invention
[0005]
　An object of the present invention is to provide a crane capable of moving a load in a manner in accordance with the intention of the operator while suppressing the shaking of the load when controlling the actuator with reference to the load.
Means to solve problems
[0006]
　The problem to be solved by the present invention is as described above, and next, the means for solving this problem will be described.
[0007]
　The crane of the present invention is a crane that controls an actuator based on a target speed signal regarding the moving direction and speed of a load suspended from a boom by a wire rope, and the acceleration time and speed of the load in the target speed signal. An operating tool for inputting the speed and movement direction, the boom turning angle detecting means, the boom undulation angle detecting means, the boom expansion / contraction length detecting means, and the luggage for detecting the current position of the luggage with respect to the reference position. The luggage position detecting means includes a position detecting means, the luggage position detecting means detects the luggage, calculates the current position of the luggage with respect to the reference position, integrates the target speed signal input from the operating tool, and uses the equation (1). The target orbit signal is calculated by attenuating the frequency component in a predetermined frequency range by the represented filter, the target position of the load with respect to the reference position is calculated from the target orbit signal, and the turning detected by the turning angle detecting means. The current position of the boom tip with respect to the reference position is calculated from the angle, the undulation angle detected by the undulation angle detecting means, and the expansion / contraction length detected by the expansion / contraction length detecting means, and the current position of the luggage and the boom tip The feeding amount of the wire rope is calculated from the current position, the direction vector of the wire rope is calculated from the current position of the luggage and the target position of the luggage, and the feeding amount of the wire rope and the wire rope It is preferable to calculate the target position of the boom tip at the target position of the load from the direction vector and generate an operation signal of the actuator based on the target position of the boom tip.
[Equation 1]

　a, b: coefficient, c: exponent, s: differential element
[0008]
　In the crane of the present invention, the coefficient a, the coefficient b and the index c in the formula (1) are determined based on the current position of the boom tip.
[0009]
　In the crane of the present invention, the coefficient a, the coefficient b and the index c in the formula (1) are the turning angle detected by the turning angle detecting means, the undulating angle detected by the undulating angle detecting means and the expansion and contraction length detection. It is determined based on the expansion and contraction length detected by the means.
[0010]
　The crane of the present invention has a database in which the coefficient a, the coefficient b and the index c are defined for each predetermined condition, and the coefficient a, the coefficient b and the index c corresponding to any condition are obtained from the database. It is the one to choose.
Effect of the invention
[0011]
　The present invention has the following effects.
[0012]
　According to the crane of the present invention, the frequency component including the singular point generated by the differential operation when calculating the target position of the boom is attenuated, so that the control of the boom is stable. As a result, when controlling the actuator with reference to the luggage, the luggage can be moved in a manner in accordance with the intention of the operator while suppressing the shaking of the luggage.
[0013]
　According to the crane of the present invention, since the frequency component of the target speed signal attenuated by the filter is determined according to the input state of the operator, it is possible to approach the operating state desired by the operator inferred from the input state. it can. As a result, when controlling the actuator with reference to the luggage, the luggage can be moved in a manner in accordance with the intention of the operator while suppressing the shaking of the luggage.
[0014]
　According to the crane of the present invention, the coefficients a, the coefficient b and the exponent c, which are predetermined according to the predetermined conditions, are selected from the database. The filter is set. As a result, when controlling the actuator with reference to the luggage, the luggage can be moved in a manner in accordance with the intention of the operator while suppressing the shaking of the luggage.
A brief description of the drawing
[0015]
[Fig. 1] A side view showing the overall configuration of a crane.
[Fig. 2] A block diagram showing a control configuration of a crane.
FIG. 3 is a plan view showing a schematic configuration of an operation terminal.
[Fig. 4] A block diagram showing a control configuration of an operation terminal.
FIG. 5 is a diagram showing the direction in which a load is transported when the suspended load moving operation tool is operated.
FIG. 6 is a block diagram showing a control configuration of a control device according to the first embodiment.
[Fig. 7] A diagram showing a reverse dynamics model of a crane.
FIG. 8 is a diagram showing a graph illustrating a target speed signal.
FIG. 9 is a diagram showing a flowchart showing a control process of a crane control method.
FIG. 10 is a diagram showing a flowchart showing a target trajectory calculation process in the first embodiment.
FIG. 11 is a diagram showing a flowchart showing a boom position calculation process.
FIG. 12 is a diagram showing a flowchart showing an operation signal generation process.
FIG. 13 is a block diagram showing a control configuration of a control device according to a second embodiment.
FIG. 14 is a diagram showing a flowchart showing a target trajectory calculation process in the second embodiment.
Mode for carrying out the invention
[0016]
　Hereinafter, a crane 1 which is a mobile crane (rough terrain crane) will be described as a work vehicle according to an embodiment of the present invention with reference to FIGS. 1 and 2. In the present embodiment, a crane (rough terrain crane) will be described as a work vehicle, but an all-terrain crane, a truck crane, a loaded truck crane, an aerial work platform, or the like may be used.
[0017]
　As shown in FIG. 1, the crane 1 is a mobile crane that can move to an unspecified place. The crane 1 has a vehicle 2, a crane device 6 which is a working device, and an operation terminal 32 (see FIG. 2) capable of operating the crane device 6.
[0018]
　The vehicle 2 is a traveling body that conveys the crane device 6. The vehicle 2 has a plurality of wheels 3 and runs on the engine 4 as a power source. The vehicle 2 is provided with an outrigger 5. The outrigger 5 is composed of an overhang beam that can be extended by flood control on both sides of the vehicle 2 in the width direction and a hydraulic jack cylinder that can be extended in a direction perpendicular to the ground. The vehicle 2 can expand the workable range of the crane 1 by extending the outrigger 5 in the width direction of the vehicle 2 and grounding the jack cylinder.
[0019]
　The crane device 6 is a work device for lifting the luggage W with a wire rope. The crane device 6 includes a swivel 7, a boom 9, a jib 9a, a main hook block 10, a sub hook block 11, an undulating hydraulic cylinder 12, a main winch 13, a main wire rope 14, a sub winch 15, a sub wire rope 16, and a cabin. It is equipped with 17 and the like.
[0020]
　The swivel base 7 is a drive device that makes the crane device 6 swivelable. The swivel base 7 is provided on the frame of the vehicle 2 via an annular bearing. The swivel base 7 is rotatably configured with the center of the annular bearing as the center of rotation. The swivel base 7 is provided with a hydraulic swivel motor 8 which is an actuator. The swivel base 7 is configured to be swivelable in one direction and the other direction by a swivel hydraulic motor 8.
[0021]
　The swivel camera 7b is a monitoring device that photographs obstacles, people, and the like around the swivel 7. The swivel camera 7b is provided on both the left and right sides in front of the swivel 7 and on the left and right sides behind the swivel 7. Each swivel camera 7b covers the entire circumference of the swivel 7 as a monitoring range by photographing the periphery of each installation location. Further, the swivel camera 7b arranged on the left and right sides in front of the swivel 7 is configured to be usable as a set of stereo cameras. That is, the swivel camera 7b in front of the swivel 7 can be configured as a luggage position detecting means for detecting the position information of the suspended luggage W by using it as a set of stereo cameras. The baggage position detecting means may also be configured by the boom camera 9b described later. Further, the baggage position detecting means may be any means as long as it can detect the position information of the baggage W such as a millimeter wave radar or a GNSS device.
[0022]
　The swivel hydraulic motor 8 is an actuator that is rotationally operated by a swivel valve 23 (see FIG. 2), which is an electromagnetic proportional switching valve. The swivel valve 23 can control the flow rate of the hydraulic oil supplied to the swivel hydraulic motor 8 to an arbitrary flow rate. That is, the swivel base 7 is configured to be controllable to an arbitrary swivel speed via the swivel hydraulic motor 8 that is rotationally operated by the swivel valve 23. The swivel base 7 is provided with a swivel sensor 27 (see FIG. 2) that detects the swivel angle θz (angle) and the swivel speed of the swivel base 7.
[0023]
　The boom 9 is a movable support column that supports the wire rope so that the luggage W can be lifted. The boom 9 is composed of a plurality of boom members. The boom 9 is provided so that the base end of the base boom member can swing at substantially the center of the swivel base 7. The boom 9 is configured to be able to expand and contract in the axial direction by moving each boom member by an expansion / contraction hydraulic cylinder (not shown) which is an actuator. Further, the boom 9 is provided with a jib 9a.
[0024]
　The expansion / contraction hydraulic cylinder (not shown) is an actuator that is expanded / contracted by the expansion / contraction valve 24 (see FIG. 2), which is an electromagnetic proportional switching valve. The expansion / contraction valve 24 can control the flow rate of the hydraulic oil supplied to the expansion / contraction hydraulic cylinder to an arbitrary flow rate. The boom 9 is provided with a telescopic sensor 28 for detecting the length of the boom 9 and a vehicle side orientation sensor 29 for detecting the orientation centered on the tip of the boom 9.
[0025]
　The boom camera 9b (see FIG. 2) is a detection device that photographs the luggage W and the features around the luggage W. The boom camera 9b is provided at the tip of the boom 9. The boom camera 9b is configured to be capable of photographing the features and terrain around the luggage W and the crane 1 from vertically above the luggage W.
[0026]
　The main hook block 10 and the sub hook block 11 are hanging tools for hanging the luggage W. The main hook block 10 is provided with a plurality of hook sheaves around which the main wire rope 14 is wound and a main hook 10a for suspending the luggage W. The sub-hook block 11 is provided with a sub-hook 11a for suspending the luggage W.
[0027]
　The undulating hydraulic cylinder 12 is an actuator that raises and lays down the boom 9 and holds the posture of the boom 9. In the undulating hydraulic cylinder 12, the end of the cylinder portion is swingably connected to the swivel base 7, and the end of the rod portion is swingably connected to the base boom member of the boom 9. The undulating hydraulic cylinder 12 is expanded and contracted by the undulating valve 25 (see FIG. 2), which is an electromagnetic proportional switching valve. The undulation valve 25 can control the flow rate of the hydraulic oil supplied to the undulation hydraulic cylinder 12 to an arbitrary flow rate. The boom 9 is provided with an undulation sensor 30 (see FIG. 2) that detects the undulation angle θx.
[0028]
　The main winch 13 and the sub winch 15 are winding devices that carry out (winding up) and unwinding (winding down) the main wire rope 14 and the sub wire rope 16. The main winch 13 is rotated by a main hydraulic motor (not shown) in which the main drum around which the main wire rope 14 is wound is an actuator, and the sub winch 15 is a sub (not shown) in which the sub drum around which the sub wire rope 16 is wound is an actuator. It is configured to be rotated by a hydraulic motor.
[0029]
　The main hydraulic motor is rotated by a main valve 26 m (see FIG. 2), which is an electromagnetic proportional switching valve. The main winch 13 is configured to control a main hydraulic motor by a main valve 26 m so that it can be operated at an arbitrary feeding and feeding speed. Similarly, the sub winch 15 is configured to control the sub hydraulic motor by the sub valve 26s (see FIG. 2), which is an electromagnetic proportional switching valve, so that the sub winch 15 can be operated at an arbitrary feeding and feeding speed. The main winch 13 and the sub winch 15 are provided with a winding sensor 43 (see FIG. 2) for detecting the feeding amount l of the main wire rope 14 and the sub wire rope 16, respectively.
[0030]
　The cabin 17 is a cockpit covered with a housing. The cabin 17 is mounted on the swivel base 7. A cockpit (not shown) is provided. In the driver's seat, an operating tool for operating the vehicle 2 and a turning operating tool 18 for operating the crane device 6, an undulating operating tool 19, a telescopic operating tool 20, a main drum operating tool 21m, a sub-drum operating tool 21s, etc. Is provided (see FIG. 2). The swivel operating tool 18 can operate the swivel hydraulic motor 8. The undulation operation tool 19 can operate the undulation hydraulic cylinder 12. The telescopic operating tool 20 can operate the telescopic hydraulic cylinder. The main drum operating tool 21m can operate the main hydraulic motor. The sub drum operating tool 21s can operate the sub hydraulic motor.
[0031]
　As shown in FIG. 2, the control device 31 is a control device that controls the actuator of the crane device 6 via each operation valve. The control device 31 is provided in the cabin 17. The control device 31 may substantially have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected by a bus, or may have a configuration including a one-chip LSI or the like. The control device 31 stores various programs and data for controlling the operation of each actuator, switching valve, sensor, and the like.
[0032]
　The control device 31 is connected to the swivel camera 7a, the boom camera 9b, the swivel operation tool 18, the undulation operation tool 19, the telescopic operation tool 20, the main drum operation tool 21m, and the sub-drum operation tool 21s, and the image from the swivel camera 7a. The i1 and the image i2 from the boom camera 9b can be acquired, and the operating amounts of the turning operation tool 18, the undulation operation tool 19, the main drum operation tool 21m, and the sub-drum operation tool 21s can be acquired.
[0033]
　The control device 31 is connected to the terminal side control device 41 of the operation terminal 32, and can acquire a control signal from the operation terminal 32.
[0034]
　The control device 31 is connected to the swivel valve 23, the telescopic valve 24, the undulation valve 25, the main valve 26m and the sub valve 26s, and is connected to the swivel valve 23, the undulation valve 25, the main valve 26m and the sub valve. The operation signal Md can be transmitted to the valve 26s.
[0035]
　The control device 31 is connected to the swivel sensor 27, the telescopic sensor 28, the orientation sensor 29, the undulation sensor 30, and the winding sensor 43, and has a swivel angle θz, a telescopic length Lb, and an undulation angle θx. It is possible to obtain the feeding amount l (n) of the main wire rope 14 or the sub wire rope 16 (hereinafter, simply referred to as “wire rope”) and the orientation of the tip of the boom 9.
[0036]
　The control device 31 generates an operation signal Md corresponding to each operation tool based on the operation amounts of the turning operation tool 18, the undulation operation tool 19, the main drum operation tool 21m, and the sub-drum operation tool 21s.
[0037]
　The crane 1 configured in this way can move the crane device 6 to an arbitrary position by traveling the vehicle 2. Further, the crane 1 erects the boom 9 at an arbitrary undulation angle θx by the undulating hydraulic cylinder 12 by operating the undulating operation tool 19, and extends the boom 9 to an arbitrary boom 9 length by operating the expansion / contraction operation tool 20. The lift and working radius of the crane device 6 can be expanded by making the crane device 6 work. Further, the crane 1 can convey the luggage W by lifting the luggage W by the sub-drum operating tool 21s or the like and turning the swivel base 7 by operating the swivel operating tool 18.
[0038]
　As shown in FIGS. 3 and 4, the operation terminal 32 is a terminal for inputting a target speed signal Vd regarding the direction and speed at which the luggage W is moved. The operation terminal 32 includes a housing 33, a suspended load moving operation tool 35 provided on the operation surface of the housing 33, a terminal-side turning operation tool 36, a terminal-side expansion / contraction operation tool 37, a terminal-side main drum operation tool 38m, and a terminal-side sub-drum. It includes an operating tool 38s, a terminal-side undulating operating tool 39, a terminal-side display device 40, a terminal-side control device 41 (see FIGS. 3 and 5), and the like. The operation terminal 32 transmits the target speed signal Vd of the load W generated by the operation of the suspended load moving operation tool 35 or various operation tools to the control device 31 of the crane 1 (crane device 6).
[0039]
　As shown in FIG. 3, the housing 33 is a main component of the operation terminal 32. The housing 33 is configured to have a size that can be held by the operator by hand. The housing 33 has a suspended load moving operation tool 35, a terminal side turning operation tool 36, a terminal side expansion / contraction operation tool 37, a terminal side main drum operation tool 38m, a terminal side sub drum operation tool 38s, and a terminal side undulation operation tool on the operation surface. 39 and a terminal side display device 40 are provided.
[0040]
　The suspended load moving operation tool 35 is an operating tool for inputting instructions regarding the moving direction and speed of the load W on a horizontal surface. The suspended load moving operation tool 35 includes an operation stick that stands substantially vertically from the operation surface of the housing 33, and a sensor (not shown) that detects the tilt direction and tilt amount of the operation stick. The suspended load moving operating tool 35 is configured so that the operating stick can be tilted in any direction. The suspended load moving operation tool 35 relates to the tilting direction of the operating stick and the tilting amount thereof detected by a sensor (not shown) as the extending direction of the boom 9 in the upward direction (hereinafter, simply referred to as “upward direction”) toward the operating surface. The operation signal is configured to be transmitted to the terminal side control device 41 (see FIG. 2).
[0041]
　The terminal-side turning operation tool 36 is an operating tool into which instructions regarding the turning direction and speed of the crane device 6 are input. The terminal-side telescopic operation tool 37 is an operation tool for inputting instructions regarding expansion and contraction and speed of the boom 9. The terminal-side main drum operating tool 38m (terminal-side sub-drum operating tool 38s) is an operating tool for inputting instructions regarding the rotation direction and speed of the main winch 13. The terminal-side undulation operation tool 39 is an operation tool for inputting an instruction regarding the undulation and speed of the boom 9. Each operating tool is composed of an operating stick that stands substantially vertically from the operating surface of the housing 33 and a sensor (not shown) that detects the tilting direction and tilting amount of the operating stick. Each operating tool is configured to be tiltable to one side and the other side.
[0042]
　The terminal side display device 40 displays various information such as the attitude information of the crane 1 and the information of the luggage W. The terminal-side display device 40 is composed of an image display device such as a liquid crystal screen. The terminal-side display device 40 is provided on the operation surface of the housing 33. On the terminal-side display device 40, the extension direction of the boom 9 is set upward toward the terminal-side display device 40, and the direction thereof is displayed.
[0043]
　As shown in FIG. 4, the terminal-side control device 41, which is a control unit, controls the operation terminal 32. The terminal-side control device 41 is provided in the housing 33 of the operation terminal 32. The terminal-side control device 41 may substantially have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected by a bus, or may have a configuration including a one-chip LSI or the like. The terminal-side control device 41 includes a suspended load moving operation tool 35, a terminal-side turning operation tool 36, a terminal-side expansion / contraction operation tool 37, a terminal-side main drum operation tool 38m, a terminal-side sub-drum operation tool 38s, a terminal-side undulation operation tool 39, and a terminal-side undulation operation tool 39. Various programs and data are stored in order to control the operation of the terminal-side display device 40 and the like.
[0044]
　The terminal side control device 41 includes a suspended load moving operation tool 35, a terminal side turning operation tool 36, a terminal side expansion / contraction operation tool 37, a terminal side main drum operation tool 38m, a terminal side sub drum operation tool 38s, and a terminal side undulation operation tool 39. It is connected and can acquire an operation signal consisting of the tilt direction and the tilt amount of the operation stick of each operation tool.
[0045]
　The terminal side control device 41 is an operation acquired from each sensor of the terminal side turning operation tool 36, the terminal side expansion / contraction operation tool 37, the terminal side main drum operation tool 38m, the terminal side sub drum operation tool 38s, and the terminal side undulation operation tool 39. The target speed signal Vd of the luggage W can be generated from the operation signal of the stick. Further, the terminal-side control device 41 is connected to the control device 31 of the crane device 6 by wire or wirelessly, and can transmit the generated target speed signal Vd of the luggage W to the control device 31 of the crane device 6.
[0046]
　Next, the control of the crane device 6 by the operation terminal 32 will be described with reference to FIGS. 5 and 6.
[0047]
　As shown in FIG. 5, when the tip of the boom 9 is facing north, the suspended load moving operation tool 35 of the operation terminal 32 is tilted to the left with respect to the upward direction, and is arbitrarily tilted in the direction of the tilt angle θ2 = 45 °. When the tilt operation is performed by the amount, the terminal side control device 41 suspends and moves the operation signal regarding the tilt direction and the tilt amount from the north, which is the extension direction of the boom 9, to the northwest, which is the direction of the tilt angle θ2 = 45 °. Obtained from a sensor (not shown) of the operating tool 35. Further, the terminal-side control device 41 calculates a target speed signal Vd for moving the luggage W toward the northwest at a speed corresponding to the amount of tilt from the acquired operation signal every unit time t. The operation terminal 32 transmits the calculated target speed signal Vd to the control device 31 of the crane device 6 every unit time t (see FIG. 4).
[0048]
　As shown in FIG. 6, when the target trajectory calculation unit 31a of the control device 31 receives the target speed signal Vd from the operation terminal 32 every unit time t, it is based on the direction of the tip of the boom 9 acquired by the direction sensor 29. , Calculate the target orbit signal Pd of the luggage W. Further, the target orbit calculation unit 31a calculates the target position coordinate p (n + 1) of the luggage W, which is the target position of the luggage W, from the target orbit signal Pd. The operation signal generation unit 31c of the control device 31 operates the swivel valve 23, the expansion / contraction valve 24, the undulation valve 25, the main valve 26 m, and the sub valve 26s that move the load W to the target position coordinate p (n + 1). Generate signal Md. As shown in FIG. 5, the crane 1 moves the load W toward the northwest, which is the tilt direction of the suspended load moving operation tool 35, at a speed corresponding to the tilt amount. At this time, the crane 1 controls the swivel hydraulic motor 8, the contraction hydraulic cylinder, the undulating hydraulic cylinder 12, the main hydraulic motor, and the like by the operation signal Md.
[0049]
　With this configuration, the crane 1 sets the target speed signal Vd of the moving direction and speed based on the operating direction of the suspended load moving operating tool 35 as a unit time based on the extending direction of the boom 9 from the operating terminal 32. Since it is acquired every t and the target position coordinate p (n + 1) of the luggage W is determined, the operator does not lose the recognition of the operating direction of the crane device 6 with respect to the operating direction of the suspended load moving operation tool 35. That is, the operation direction of the suspended load moving operation tool 35 and the moving direction of the load W are calculated based on the extension direction of the boom 9, which is a common reference. As a result, the crane device 6 can be easily and easily operated. In the present embodiment, the operation terminal 32 is provided inside the cabin 17, but it may be configured as a remote control terminal that can be remotely controlled from the outside of the cabin 17 by providing a terminal-side radio.
[0050]
　Next, using FIGS. 6 to 12, the target trajectory signal Pd of the luggage W for generating the operation signal Md in the control device 31 of the crane device 6 and the target position coordinates q (n + 1) at the tip of the boom 9 are set. The first embodiment of the control process to be calculated will be described. The control device 31 has a target trajectory calculation unit 31a, a boom position calculation unit 31b, and an operation signal generation unit 31c. Further, the control device 31 is configured to be able to acquire the current position information of the luggage W by using a set of the swivel camera 7a on the left and right sides in front of the swivel 7 as a stereo camera as a luggage position detecting means (FIG. 2).
[0051]
　As shown in FIG. 6, the target trajectory calculation unit 31a is a part of the control device 31 and converts the target speed signal Vd of the luggage W into the target trajectory signal Pd of the luggage W. The target trajectory calculation unit 31a can acquire the target speed signal Vd of the luggage W, which is composed of the moving direction and the speed of the luggage W, from the operation terminal 32 every unit time t. Further, the target trajectory calculation unit 31a can integrate the acquired target speed signal Vd to calculate the target position information of the luggage W. Further, the target trajectory calculation unit 31a is configured to apply a low-pass filter Lp to the target position information of the luggage W and convert it into a target trajectory signal Pd which is the target position information of the luggage W every unit time t.
[0052]
　As shown in FIGS. 6 and 7, the boom position calculation unit 31b is a part of the control device 31, and calculates the position coordinates of the tip of the boom 9 from the attitude information of the boom 9 and the target trajectory signal Pd of the luggage W. To do. The boom position calculation unit 31b can acquire the target trajectory signal Pd from the target trajectory calculation unit 31a. The boom position calculation unit 31b acquires the turning angle θz (n) of the turning table 7 from the turning sensor 27, obtains the expansion / contraction length lb (n) from the expansion / contraction sensor 28, and the undulation angle θx from the undulation sensor 30. (N) is acquired, and the feeding amount l (n) of the main wire rope 14 or the sub wire rope 16 (hereinafter, simply referred to as “wire rope”) is acquired from the winding sensor 43, and the amount l (n) in front of the swivel base 7 is acquired. The current position information of the luggage W can be acquired from the images of the luggage W taken by a set of swivel cameras 7a arranged on both the left and right sides (see FIG. 2).
[0053]
　The boom position calculation unit 31b calculates the current position coordinates p (n) of the luggage W from the acquired current position information of the luggage W, and obtains the swivel angle θz (n), the expansion / contraction length lb (n), and the undulation angle θx. The current position coordinates q (n) of the tip of the boom 9 (the feeding position of the wire rope), which is the current position of the tip of the boom 9 from (n) (hereinafter, simply referred to as “current position coordinates q (n) of the boom 9”. ) Can be calculated. Further, the boom position calculation unit 31b can calculate the wire rope feeding amount l (n) from the current position coordinates p (n) of the luggage W and the current position coordinates q (n) of the boom 9. Further, in the boom position calculation unit 31b, the luggage W is suspended from the current position coordinates p (n) of the luggage W and the target position coordinates p (n + 1) of the luggage W which is the position of the luggage W after the lapse of the unit time t. The direction vector e (n + 1) of the wire rope can be calculated. The boom position calculation unit 31b is the position of the tip of the boom 9 after a unit time t elapses from the target position coordinate p (n + 1) of the luggage W and the direction vector e (n + 1) of the wire rope using inverse dynamics. It is configured to calculate the target position coordinates q (n + 1) of the boom 9.
[0054]
　The operation signal generation unit 31c is a part of the control device 31, and generates an operation signal Md of each actuator from the target position coordinates q (n + 1) of the boom 9 after the lapse of a unit time t. The operation signal generation unit 31c can acquire the target position coordinates q (n + 1) of the boom 9 after the lapse of the unit time t from the boom position calculation unit 31b. The operation signal generation unit 31c is configured to generate an operation signal Md of the swivel valve 23, the expansion / contraction valve 24, the undulation valve 25, the main valve 26 m, or the sub valve 26s.
[0055]
　Next, as shown in FIG. 7, the control device 31 defines a reverse dynamics model of the crane 1 for calculating the target position coordinates q (n + 1) at the tip of the boom 9. The inverse dynamics model is defined in the XYZ coordinate system, with the origin O as the turning center of the crane 1. The control device 31 defines q, p, lb, θx, θz, l, f and e in the inverse dynamics model, respectively. For example, q indicates the current position coordinate q (n) of the tip of the boom 9, and p indicates, for example, the current position coordinate p (n) of the luggage W. lb indicates, for example, the expansion / contraction length lb (n) of the boom 9, θx indicates, for example, the undulation angle θx (n), and θz indicates, for example, the turning angle θz (n). l indicates, for example, the wire rope feeding amount l (n), f indicates the wire rope tension f, and e indicates, for example, the wire rope direction vector e (n).
[0056]
　In the inverse dynamics model determined in this way, the relationship between the target position q at the tip of the boom 9 and the target position p of the luggage W is derived from the target position p of the luggage W, the mass m of the luggage W, and the spring constant kf of the wire rope. It is expressed by the equation (2), and the target position q of the tip of the boom 9 is calculated by the equation (3) which is a function of the time of the luggage W.
[ 　Equation 2]

[

Equation 3] f: Wire rope tension, kf: Spring constant, m: Mass of luggage W, q: Current position or target position of the tip of boom 9, p: Current position or target position of luggage W , L: Wire rope extension amount, e: Direction vector, g: Gravity acceleration
[0057]
　The low-pass filter Lp attenuates frequencies above a predetermined frequency. The target trajectory calculation unit 31a suppresses the occurrence of a singular point (rapid position change) due to the differential operation by applying the low-pass filter Lp to the target position information of the cargo W. The low-pass filter Lp includes the transfer function G (s) of the equation (1). In the formula (1), a and b are coefficients, and c is an exponent. The target trajectory calculation unit 31a has a database Dv1 in which the coefficients a, b and the index c determined in advance for each settling time Ts of the target velocity signal Vd and the signal magnitude V in an experiment or the like are stored (FIG. 6). 7). The low-pass filter Lp is configured so that the coefficients a, b and the exponent c of the transfer function G (s) are set to arbitrary values ​​based on the settling time Ts of the target velocity signal Vd and the signal magnitude V. There is. In the present embodiment, the transfer function G (s) of the low-pass filter Lp is expressed in the form of the equation (1), but is arbitrarily transmitted by the coefficients a, b and the exponent c stored in the database Dv1. Any format may be used as long as the function G (s) can be expressed.
[0058]
[Number 1]

[0059]
　The wire rope feeding amount l (n) is calculated from the following equation (4).
　The wire rope feeding amount l (n) is defined by the distance between the current position coordinate q (n) of the boom 9 which is the tip position of the boom 9 and the current position coordinate p (n) of the luggage W which is the position of the luggage W. The rope.
[0060]
[Number 4]

[0061]
　The direction vector e (n) of the wire rope is calculated from the following equation (5).
　The wire rope direction vector e (n) is a vector of the unit length of the wire rope tension f (see equation (2)). The tension f of the wire rope is calculated by subtracting the gravitational acceleration from the acceleration of the luggage W calculated from the current position coordinate p (n) of the luggage W and the target position coordinate p (n + 1) of the luggage W after the lapse of the unit time t. Will be done.
[0062]
[Number 5]

[0063]
　The target position coordinate q (n + 1) of the boom 9, which is the target position of the tip of the boom 9 after the lapse of the unit time t, is calculated from the equation (6) expressing the equation (2) as a function of n. Here, α indicates the turning angle θz (n) of the boom 9.
　The target position coordinate q (n + 1) of the boom 9 is calculated from the wire rope feeding amount l (n), the target position coordinate p (n + 1) of the luggage W, and the direction vector e (n + 1) using inverse dynamics. ..
[0064]
[Number 6]

[0065]
　Next, the first embodiment of the method for determining the coefficients a and b and the exponent c (see equation (1)) of the transfer function G (s) of the low-pass filter Lp in the control device 31 will be described with reference to FIG.
[0066]
　As shown in FIG. 8, the target speed signal Vd is the signal magnitude V and the signal based on the time required for the suspended load moving operation tool 35 of the operation terminal 32 to be tilted to an arbitrary tilt angle and the tilt angle. The settling time Ts of the signal until the magnitude V becomes constant is determined. For example, when the crane device 6 is operated so as to give priority to suppressing the shaking of the load W and to transport the load W with high accuracy, the operator tilts the suspended load moving operation tool 35 smaller than that during the normal tilting operation, and the tilt angle is smaller. Operate so that the time required for the tilting operation is long. As a result, the terminal side control device 41 of the operation terminal 32 has a target speed of a signal settling time Ts1 longer than the setting time during the normal tilting operation and a signal magnitude V1 larger than the tilting angle during the normal tilting operation. Generate signal Vd1 (see solid line in FIG. 9). Further, when the crane device 6 is operated by giving priority to the speed of the luggage W and allowing the occurrence of shaking to some extent, the operator tilts the suspended load moving operation tool 35 at a larger tilt angle than during the normal tilting operation. In addition, the operation is performed so that the time required for the tilting operation is shortened. As a result, the terminal-side control device 41 generates a target speed signal Vd2 having a signal settling time Ts2 shorter than the setting time during the normal tilting operation and a signal magnitude V2 larger than the tilting angle during the normal tilting operation. (See the alternate long and short dash line in FIG. 9).
[0067]
　Next, the target trajectory calculation unit 31a of the control device 31 integrates the target speed signal Vd acquired from the terminal side control device 41 of the operation terminal 32 to calculate the target position information of the luggage W. Further, the target trajectory calculation unit 31a acquires the corresponding coefficients a, b and the index c from the database Dv1 based on the settling time Ts of the acquired target velocity signal Vd and the signal magnitude V, and transmits the low-pass filter Lp. The function G (s) is calculated (see FIG. 6). For example, when the target trajectory calculation unit 31a acquires the target speed signal Vd1 from the terminal side control device 41, it is a coefficient that suppresses the swing of the luggage W from the signal settling time Ts1 and the signal magnitude V1 and improves the transport accuracy. Select a1, b1 and exponent c1 from database Db. Further, when the target trajectory calculation unit 31a acquires the target speed signal Vd2 from the terminal side control device 41, the coefficient a2, which allows the load W to sway to some extent from the signal setting time Ts2 and the signal magnitude V2, b2 and index c2 are selected from database Db.
[0068]
　Next, using FIGS. 9 to 12, a control step of calculating the target trajectory signal Pd of the luggage W for generating the operation signal Md in the control device 31 and calculating the target position coordinates q (n + 1) at the tip of the boom 9. Will be described in detail.
[0069]
　As shown in FIG. 9, in step S100, the control device 31 starts the target trajectory calculation step A in the control method of the crane 1 and shifts the step to step S110 (see FIG. 10). Then, when the target trajectory calculation step A is completed, the step is shifted to step S200 (see FIG. 9).
[0070]
　In step 200, the control device 31 starts the boom position calculation step B in the control method of the crane 1 and shifts the step to step S210 (see FIG. 11). Then, when the boom position calculation step B is completed, the step is shifted to step S300 (see FIG. 9).
[0071]
　In step 300, the control device 31 starts the operation signal generation step C in the control method of the crane 1 and shifts the step to step S310 (see FIG. 12). Then, when the operation signal generation step C is completed, the step is shifted to step S100 (see FIG. 9).
[0072]
　As shown in FIG. 10, in step S110, the target trajectory calculation unit 31a of the control device 31 determines whether or not the target speed signal Vd of the luggage W has been acquired.
　As a result, when the target speed signal Vd of the luggage W is acquired, the target trajectory calculation unit 31a shifts the step to S120.
　On the other hand, when the target speed signal Vd of the luggage W has not been acquired, the target trajectory calculation unit 31a shifts the step to S110.
[0073]
　In step S120, the boom position calculation unit 31b of the control device 31 configures a set of swivel camera 7a on the left and right sides in front of the swivel 7 as a stereo camera, photographs the luggage W, and shifts the step to step S130. Let me.
[0074]
　In step S130, the boom position calculation unit 31b calculates the current position information of the luggage W from the images taken by the set of swivel cameras 7a, and shifts the step to step S140.
[0075]
　In step S140, the target trajectory calculation unit 31a integrates the acquired target speed signal Vd of the luggage W to calculate the target position information of the luggage W, and shifts the step to step S150.
[0076]
　In step S150, the target trajectory calculation unit 31a determines the coefficients a and b of the transfer function G (s) of the low-pass filter Lp from the database Db1 based on the settling time Ts and the signal magnitude V of the acquired target speed signal Vd. The index c (see equation (1)) is selected, the low-pass filter Lp is calculated, and the step shifts to step S160.
[0077]
　In step S160, the target trajectory calculation unit 31a applies the low-pass filter Lp represented by the transfer function G (s) of the equation (3) to the calculated target position information of the luggage W, and sets the target trajectory signal Pd every unit time t. The target trajectory calculation step A is completed and the step is shifted to step S200 (see FIG. 9).
[0078]
　As shown in FIG. 11, in step S210, the boom position calculation unit 31b of the control device 31 has acquired the current position information of the luggage W with the arbitrarily determined reference position O (for example, the turning center of the boom 9) as the origin. The current position coordinate p (n) of the luggage W, which is the current position of the luggage W, is calculated from the above, and the step is shifted to step S220.
[0079]
　In step S220, the boom position calculation unit 31b determines the current position coordinates of the tip of the boom 9 from the acquired swivel angle θz (n) of the swivel table 7, the expansion / contraction length lb (n), and the undulation angle θx (n) of the boom 9. q (n) is calculated and the step is shifted to step S230.
[0080]
　In step S230, the boom position calculation unit 31b uses the above equation (4) from the current position coordinates p (n) of the luggage W and the current position coordinates q (n) of the boom 9 to extend the wire rope l (n). ) Is calculated, and the step is shifted to step S240.
[0081]
　In step S240, the boom position calculation unit 31b uses the current position coordinate p (n) of the luggage W as a reference, and the target position coordinate p of the luggage W, which is the target position of the luggage W after a unit time t has elapsed from the target trajectory signal Pd. (N + 1) is calculated, and the step is shifted to step S250.
[0082]
　In step S250, the boom position calculation unit 31b calculates the acceleration of the luggage W from the current position coordinates p (n) of the luggage W and the target position coordinates p (n + 1) of the luggage W, and uses the gravitational acceleration to calculate the acceleration of the luggage W. The direction vector e (n + 1) of the wire rope is calculated using (5), and the step is shifted to step S260.
[0083]
　In step S260, the boom position calculation unit 31b uses the above equation (6) from the calculated wire rope feeding amount l (n) and the wire rope direction vector e (n + 1) to obtain the target position coordinates q of the boom 9. (N + 1) is calculated, the boom position calculation step B is completed, and the step is shifted to step S300 (see FIG. 9).
[0084]
　As shown in FIG. 12, in step S310, the operation signal generation unit 31c of the control device 31 has a turning angle θz (n + 1) of the swivel table 7 after a unit time t has elapsed from the target position coordinates q (n + 1) of the boom 9. The expansion / contraction length Lb (n + 1), the undulation angle θx (n + 1), and the wire rope extension amount l (n + 1) are calculated, and the step is shifted to step S320.
[0085]
　In step S320, the operation signal generation unit 31c turns from the calculated turning angle θz (n + 1) of the turning table 7, the expansion / contraction length Lb (n + 1), the undulation angle θx (n + 1), and the wire rope feeding amount l (n + 1). The operation signal Md of the valve 23 for expansion, the valve for expansion / contraction 24, the valve for undulation 25, the valve for main 26 m or the valve for sub 26s is generated, respectively, and the operation signal generation step C is completed and the step is shifted to step S100 (FIG. 9).
[0086]
　The control device 31 calculates the target position coordinates q (n + 1) of the boom 9 by repeating the target trajectory calculation step A, the boom position calculation step B, and the operation signal generation step C, and after the unit time t elapses, the wire rope The direction vector e (n + 2) of the wire rope is calculated from the feeding amount l (n + 1), the current position coordinate p (n + 1) of the luggage W, and the target position coordinate p (n + 1) p (n + 2) of the luggage W, and the wire rope From the feeding amount l (n + 1) and the direction vector e (n + 2) of the wire rope, the target position coordinates p (n + 1) q (n + 2) of the boom 9 after the lapse of the unit time t are further calculated. That is, the control device 31 calculates the direction vector e (n) of the wire rope, and uses the inverse kinetics to obtain the current position coordinate p (n + 1) of the luggage W, the target position coordinate p (n + 1) of the luggage W, and the wire rope. The target position coordinates q (n + 1) of the boom 9 after the unit time t are sequentially calculated from the direction vector e (n) of. The control device 31 controls each actuator by feedforward control that generates an operation signal Md based on the target position coordinate q (n + 1) of the boom 9.
[0087]
　With this configuration, the crane 1 transmits the low-pass filter Lp from the database Dv1 based on the settling time Ts of the target speed signal Vd of the luggage W arbitrarily input from the operation terminal 32 and the signal magnitude V. Since the coefficients a and b and the index c of the function G (s) are determined, it is possible to calculate the target trajectory signal Pd in ​​line with the operator's intention estimated from the target speed signal Vd without performing complicated calculation. it can. Further, the crane 1 is applied with feedforward control in which a control signal of the boom 9 is generated with reference to the cargo W and a control signal of the boom 9 is generated based on a target trajectory intended by the operator. Therefore, the crane 1 has a small response delay to the operation signal, and suppresses the swing of the load W due to the response delay. In addition, the current position coordinate p (n) of the luggage W, the direction vector e (n) of the wire rope, and the target position coordinate p (n + 1) of the luggage W measured by constructing a reverse dynamics model and using the swivel camera 7a. ) And the target position coordinates q (n + 1) of the boom 9, so that the error can be suppressed. As a result, when the actuator is controlled with the luggage W as a reference, the luggage W can be moved according to the intention of the operator while suppressing the shaking of the luggage W.
[0088]
　In this mobile phone, feedforward control is applied to the crane 1, but when the operation of the hydraulic actuator becomes discontinuous and fluctuation occurs, the differential element s of the transfer function G (s) affects it. there is a possibility. Therefore, in the control according to the present invention, in addition to the feedforward control, the feedback control may be used to correct the delay for stabilization (improvement of robustness).
[0089]
　Next, a second embodiment of a method for determining the coefficients a, b and the index c of the transfer function G (s) of the low-pass filter Lp in the control device 31 will be described with reference to FIGS. 13 and 14. The correction of the target speed signal Vd according to the following embodiment refers to the same thing by using the names, drawing numbers, and symbols used in the description of the crane 1 and the control process shown in FIGS. 1 to 12. In the following embodiments, the same points as those of the embodiments already described will be omitted, and the differences will be mainly described.
[0090]
　As shown in FIG. 13, the boom position calculation unit 31b of the control device 31 stores the coefficients a, b and the index c determined in advance for each current position coordinate q (n) of the boom 9 in an experiment or the like, and is stored in the database Dv2. have. The low-pass filter Lp is configured so that the coefficients a and b and the exponent c of the transfer function G (s) are set to arbitrary values ​​based on the current position coordinates q (n) of the boom 9.
[0091]
　The boom position calculation unit 31b calculates the current position coordinates q (n) of the boom 9 from the acquired turning angle θz (n), expansion / contraction length lb (n), and undulation angle θx (n). Further, the boom position calculation unit 31b acquires the corresponding coefficients a and b and the exponent c from the database Dv2 based on the acquired current position coordinates q (n) of the boom 9, and the transfer function G (s) of the low-pass filter Lp. ) Is calculated. For example, when the boom position calculation unit 31b determines from the calculated current position coordinates q (n) of the boom 9 that the boom 9 is in a state of being greatly extended, the coefficients a3 and b3 for suppressing the shaking of the luggage W and The index c3 is selected from the database Db2.
[0092]
　Next, the control steps of calculating the correction trajectory signal Pdc of the luggage W for generating the operation signal Md in the control device 31 and calculating the target position coordinates q (n + 1) at the tip of the boom 9 will be described in detail.
[0093]
　As shown in FIG. 14, in step S140, the target trajectory calculation unit 31a integrates the acquired target speed signal Vd of the luggage W to calculate the target position information of the luggage W, and shifts the step to step S145.
[0094]
　In step S145, the boom position calculation unit 31b determines the current position coordinates of the tip of the boom 9 from the acquired swivel angle θz (n) of the swivel table 7, the expansion / contraction length lb (n), and the undulation angle θx (n) of the boom 9. q (n) is calculated and the step is shifted to step S155.
[0095]
　In step S155, the target trajectory calculation unit 31a acquires the current position coordinates q (n) of the tip of the boom 9 from the boom position calculation unit 31b, and based on the current position coordinates q (n) of the tip of the boom 9, the database Db2 The coefficients a, b and exponent c of the transfer function G (s) of the low-pass filter Lp are selected, the low-pass filter Lp is calculated, and the step is shifted to step S160.
[0096]
　With this configuration, the crane 1 determines the coefficients a, b and the index c of the transfer function G (s) of the low-pass filter Lp from the database Dv2 based on its attitude state, so that it is inferred from the attitude state. The target orbit signal Pd can be calculated according to the magnitude of the shaking. As a result, when controlling the actuator with reference to the luggage W, the luggage W can be moved according to the intention of the operator in consideration of the posture of the crane 1 while suppressing the shaking of the luggage W.
[0097]
　Regarding the method of determining the coefficients a, b and the exponent c of the transfer function G (s) of the low-pass filter Lp, the first embodiment based on the target velocity signal Vd and the second based on the current position coordinates q (n) of the boom 9. Although the embodiment is shown, the coefficients a, b and the index c may be calculated based on the target velocity signal Vd and the current position coordinate q (n) of the boom 9. For example, the coefficients a, b and the index from the database Db3 in which the coefficients a, b and the index c based on the settling time Ts of the target velocity signal Vd and the signal magnitude V are determined for each extension length of the boom 9. By selecting c, it is possible to appropriately suppress the shaking of the luggage W even if the operator is not aware of the posture of the crane 1.
[0098]
　Further, in the present embodiment, the crane 1 is configured to select the coefficients a, b and the index c of the transfer function G (s) of the low-pass filter Lp from the databases Db1, Db2 and the like, but obtains them via the network. The coefficients a, b and the index c may be determined by machine learning based on the control state of the other crane and the actual data such as the coefficients a, b and the index c at that time.
[0099]
　The above-described embodiment only shows a typical embodiment, and can be variously modified and implemented within a range that does not deviate from the gist of one embodiment. It goes without saying that it can be carried out in various forms, and the scope of the present invention is indicated by the description of the claims, and further, the equal meaning described in the claims, and all within the scope. Including changes.
Industrial applicability
[0100]
　The present invention can be used for cranes.
Code description
[0101]
　　　　1 Crane
　　　　6 Crane device
　　　　9 Boom
　　　　O Reference position
　　　　W Luggage
　　　　Vd Target speed signal
　p (n) Luggage current position coordinates
　p (n + 1) Luggage target position coordinates
　q (n) Boom current position coordinates
　q (n + 1) Boom target Position coordinates
The scope of the claims
[Claim 1]
　A crane that controls an actuator based on a target speed signal related to the movement direction and speed of a load suspended from a boom by a wire rope,
　and inputs the acceleration time, speed, and movement direction of the load in the target speed signal. The operation tool, the
　boom turning angle detecting means, the
　boom undulation angle detecting means, the
　boom expansion / contraction length detecting means, and
　the luggage position detecting means for detecting the current position of the luggage with respect to the reference position are provided. , The
　luggage position detecting means detects the luggage, calculates the current position of the luggage with respect to the reference position
　, integrates the target speed signal input from the operation tool, and is determined by the filter represented by the equation (1). The target orbit signal is calculated by attenuating the frequency component of the frequency range, the target position of the luggage with respect to the reference position is calculated from the target orbit signal,
　and the turning angle and the undulation angle detecting means detected by the turning angle detecting means. The current position of the boom tip with respect to the reference position is calculated from the undulation angle detected by the user and the expansion / contraction length detected by the expansion / contraction length detecting means
　, and the wire is calculated from the current position of the luggage and the current position of the boom tip. The rope feeding amount is calculated,
　the direction vector of the wire rope is calculated from the current position of the luggage and the target position of the luggage, and the direction vector of the wire rope is calculated from the direction vector of the
　wire rope. Calculate the target position of the boom tip at the target position of the luggage,
　A crane that generates an operating signal for the actuator based on a target position at the tip of the boom.
[Equation 1]

　a, b: coefficient, c: exponent, s: differential element
[Claim 2]
　The crane according to claim 1, wherein the coefficient a, the coefficient b, and the index c in the formula (1) are determined based on the acceleration time and speed of the load in the target speed signal.
[Claim 3]
　The crane according to claim 1 or 2, wherein the coefficient a, the coefficient b, and the index c in the formula (1) are determined based on the current position of the boom tip.
[Claim 4]
　Claim 2 or claim having a database in which the coefficient a, the coefficient b and the index c are defined for each predetermined condition, and selecting the coefficient a, the coefficient b and the index c corresponding to an arbitrary condition from the database. Item 3. The crane according to item 3.